Nodelet multi-threading example

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Hi all,

I am finding a way to separate some heavy load process into some standalone threads so that I could get other callbacks in time using nodelet. I looked at the nodelet wiki page but it has few description about its multi-threading model and usage, so I am wondering where I could find such usage examples or projects already doing this?

BTW, is creating my own threads using boost inside a nodelet a bad idea?

Thanks for any help.